四旋翼无人机悬停控制设计
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摘要
通过对四旋翼无人机的飞行原理分析,建立了无人机的非线性动力学模型,对模型进行简化和线性化处理后,设计了PD控制器,经仿真验证,该控制器能够实现对四旋翼无人机的高度跟踪控制和姿态稳定控制,且对模型参数摄动具有较好的鲁棒性,满足飞行动态性能需求。
Through the analysis of the flight principle of the Four-rotor UAV, the non-linear dynamic model of the UAV is established.After simplifying and linearizing the model, the PD controller is designed. The simulation results show that the controller can realize the altitude tracking control and attitude stability control of the Four-rotor UAV, and has good robustness to the model parameter perturbation and meets the flight dynamics.
Through the analysis of the flight principle of the Four-rotor UAV, the non-linear dynamic model of the UAV is established.After simplifying and linearizing the model, the PD controller is designed. The simulation results show that the controller can realize the altitude tracking control and attitude stability control of the Four-rotor UAV, and has good robustness to the model parameter perturbation and meets the flight dynamics.
引文
[1]岳基隆,张庆杰,朱华勇.微小型四旋翼无人机研究进展及关键技术浅析[J].电光与控制,2010,17(10):46-52.
[2]A.MOKHTARI AND A.BENALLEGUE,Dynamic Feedback Controller of Euler Angles and Wind parameters estimation for a Quadrotor Unmanned Aerial Vehicle[C].Proceedings of the IEEE International Conference on Rob otics&Automation,April,2004:2359-2366.
[3]刁琛,鲜斌,殷强等.四旋翼无人飞行器的非线性控制设计[C].中国制导、导航与控制学术会议,2010:1090-1095.
[4]T.MADANI,A.HENALLEGUE.Backstepping Control with Exact 2-Sliding Mode Estimation for a Quadrotor Unmanned Aerial Vehicle[C].Proceeding of the IEEE International Conference on Intelligent Robots and System,2007:141-145.
[5]宿敬亚,樊鹏辉,蔡开元.四旋翼飞行器的非线性PID姿态控制[J].北京航空航天大学学报,2011,37(9):1054-1058.
[6]童春月,尹平林,梁莉敏.基于遗传算法的双旋翼系统的PID控制器设计[J].微机发展,2005,15(7):100-102.
[7]聂博文,马宏绪,王剑等.微小型四旋翼飞行器的研究现状与关键技术[J].电光与控制,2007,14(6):113-117.
[8]ERGINER B,ALTU?E.Design and implementation of a hybrid fuzzy logic controller for a quadrotor VTOLvehicle[J].International Journal of Control,Automatic,and Systems,2012,10(1):61-70.
[9]陈平,罗晶.四旋翼直升机建模及H∞回路成形控制器设计[J].南京理工大学学报(自然科学版),2009,33(9):81-86.
[10]刘金琨.先进PID控制MATLAB仿真(第3版)[M].北京:电子工业出版社,2011.
[11]陈永会,谭功全,沈勇.阻尼比约束的时滞系统最优PI调节器设计[J].控制工程,2015,22(4):720-724.
[2]A.MOKHTARI AND A.BENALLEGUE,Dynamic Feedback Controller of Euler Angles and Wind parameters estimation for a Quadrotor Unmanned Aerial Vehicle[C].Proceedings of the IEEE International Conference on Rob otics&Automation,April,2004:2359-2366.
[3]刁琛,鲜斌,殷强等.四旋翼无人飞行器的非线性控制设计[C].中国制导、导航与控制学术会议,2010:1090-1095.
[4]T.MADANI,A.HENALLEGUE.Backstepping Control with Exact 2-Sliding Mode Estimation for a Quadrotor Unmanned Aerial Vehicle[C].Proceeding of the IEEE International Conference on Intelligent Robots and System,2007:141-145.
[5]宿敬亚,樊鹏辉,蔡开元.四旋翼飞行器的非线性PID姿态控制[J].北京航空航天大学学报,2011,37(9):1054-1058.
[6]童春月,尹平林,梁莉敏.基于遗传算法的双旋翼系统的PID控制器设计[J].微机发展,2005,15(7):100-102.
[7]聂博文,马宏绪,王剑等.微小型四旋翼飞行器的研究现状与关键技术[J].电光与控制,2007,14(6):113-117.
[8]ERGINER B,ALTU?E.Design and implementation of a hybrid fuzzy logic controller for a quadrotor VTOLvehicle[J].International Journal of Control,Automatic,and Systems,2012,10(1):61-70.
[9]陈平,罗晶.四旋翼直升机建模及H∞回路成形控制器设计[J].南京理工大学学报(自然科学版),2009,33(9):81-86.
[10]刘金琨.先进PID控制MATLAB仿真(第3版)[M].北京:电子工业出版社,2011.
[11]陈永会,谭功全,沈勇.阻尼比约束的时滞系统最优PI调节器设计[J].控制工程,2015,22(4):720-724.